Couple of small changes,
(BodyRotation vs. SpaceRotation, desired acc, correcting indices, contact_state)
Number of corrections for indices in simbody spatail vector
(first rotational, then translational
+ some minor edits, e.g. joint limits..)
Modified WBO_cvxgen description and all accompanying files
(Several modifications regarding the opt problem formulation,
specially indexes related to friction cone constraints)